Planting characteristic detection and control using a seed sensor

ABSTRACT

A seed sensor senses seeds on a row unit and generates a seed sensor signal. A number of planting characteristics, such as a seed orientation, seed slugging, delivery system wear, and seed abnormalities, can be detected based on the seed sensor signal. The planter can be controlled based on the detected planting characteristics.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a continuation of and claims priority of U.S.patent application Ser. No. 16/437,266, filed Jun. 11, 2019, the contentof which is hereby incorporated by reference in its entirety.

FIELD OF THE DESCRIPTION

The present description relates to agricultural machines. Morespecifically, the present description relates to using a seed sensor ona planter to detect planting characteristics and generate controlsignals.

BACKGROUND

There are a wide variety of different types of agricultural machinesthat plant seeds. Some such agricultural machines include air seedersand planters that have row units (collectively “planters”).

As one example, a row unit is often mounted to a planter with aplurality of other row units. The planter is often towed by a tractorover soil where seed is planted in the soil, using the row units. Therow units on the planter follow the ground profile by using acombination of a down force assembly that imparts a down force to therow unit to push disk openers into the ground and gauge wheels to setdepth of penetration of the disk openers.

The seed can be carried, prior to being planted, by a container or tankon the row unit itself, or it can be pneumatically delivered to the rowunit by a grain cart that is also pulled by the tractor. In either case,the seed can be delivered to the furrow by a delivery system.

The discussion above is merely provided for general backgroundinformation and is not intended to be used as an aid in determining thescope of the claimed subject matter.

SUMMARY

A seed sensor senses seeds on a row unit and generates a seed sensorsignal. A number of planting characteristics, such as a seedorientation, seed slugging, (seed misplacement on a delivery system orthe ground) delivery system wear, and seed abnormalities, can bedetected based on the seed sensor signal. The planter can be controlledbased on the detected planting characteristics.

Example 1 is an agricultural machine comprising:

a furrow opener configured to open a furrow as the agricultural machinemoves across a field;

a seed delivery system configured to deliver seeds to the furrow;

a seed sensor configured to sense a seed and to generate a seed sensorsignal indicative of the seed; and

a seed abnormality detector configured to detect a characteristic of theseed based on the seed sensor signal and to identify a seed abnormalitybased on the detected characteristic.

Example 2 is the agricultural machine of any or all previous examplesand further comprising:

a control system configured to generate a control signal to control acontrollable subsystem based on the seed abnormality.

Example 3 is the planting machine of any or all previous examples,wherein the controllable subsystem comprises a population controlsubsystem.

Example 4 is the agricultural machine of any or all previous examples,wherein the control system is configured to generate the control signalto control the population control subsystem to increase a speed of theseed delivery system.

Example 5 is the agricultural machine of any or all previous examples,wherein the control system is configured to generate the control signalto control the population subsystem to increase a speed of a seedmetering system, the seed metering system configured to meter seeds tothe seed delivery system.

Example 6 is the agricultural machine of any or all previous examples,wherein the seed abnormality detector is configured to detect, as thecharacteristic of the seed, a spectral characteristic of the seed, andto identify the seed abnormality based on the detected spectralcharacteristic.

Example 7 is the agricultural machine of any or all previous examples,wherein the seed sensor comprises an image sensor that is configured togenerate, as the seed sensor signal, an image of the seed.

Example 8 is the agricultural machine of any or all previous examples,wherein the seed abnormality detector is configured to compare thedetected characteristic of the seed to a seed type characteristic, andto identify the seed abnormality based on the comparison.

Example 9 is a method of controlling an agricultural machine comprising:

generating, with a seed sensor, a seed sensor signal indicative of seeddetected moving through the agricultural machine;

detecting, with a seed abnormality detector, a characteristic of theseed based on the seed sensor signal;

identifying a seed abnormality based on the detected characteristic ofthe seed; and

generating a controllable subsystem of the agricultural machine based onthe seed abnormality.

Example 10 is the method of any or all previous examples, wherein thecontrollable subsystem comprises a population subsystem and whereingenerating the control signal comprises:

generating the control signal to control the population subsystem of theagricultural machine to temporarily increase a speed at which a seeddelivery system is configured to deliver seeds to a furrow.

Example 11 is the method of any or all previous examples, wherein thecontrollable subsystem comprises a population subsystem and whereingenerating the control signal comprises:

generating the control signal to control the population subsystem of theagricultural machine to temporarily increase a speed at which a seedmetering system meters seeds to a seed delivery system.

Example 12 is the method of any or all previous examples, whereingenerating the seed sensor signal comprises capturing an image of theseed, with the seed sensor, as the seed is moving through theagricultural machine.

Example 13 is the method of any or all previous examples, whereindetecting the characteristic of the seed comprises detecting a spectralcharacteristic of the seed based on the seed sensor signal and whereinidentifying the seed abnormality comprises identifying the seedabnormality based on the detected spectral characteristic.

Example 14 is the method of any or all previous examples, whereinidentifying the seed abnormality comprises identifying that the seeddetected moving through the agricultural machine is of a different typethan a type of the seed that is to be delivered to a furrow opened bythe agricultural machine.

Example 15 is an agricultural machine comprising:

a furrow opener configured to open a seed furrow as the agriculturalmachine moves across a field during a planting operation;

a seed delivery system configured to deliver seeds to the furrow;

a seed sensor configured to sense a seed and to generate a seed sensorsignal indicative of the seed; and

a planting characteristic detection system that detects a characteristicof the planting operation based on the seed sensor signal and generatesa characteristic signal indicative of the sensed plantingcharacteristic.

Example 16 is the agricultural machine of any or all previous examples,wherein the planting characteristic detection system comprises:

a seed orientation detector configured to detect, as the characteristicof the planting operation, an orientation of the seed in the seeddelivery system based on the seed sensor signal.

Example 17 is the agricultural machine of any or all previous examplesand further comprising:

a control system configured to generate a control signal to control acontrollable subsystem based on the detected orientation of the seed.

Example 18 is the agricultural machine of any or all previous examples,wherein the controllable subsystem comprises a seed orientationsubsystem being configurable to change an orientation of the seeds beingdelivered to the seed delivery system, and wherein the control system isconfigured to generate the control signal to control the seedorientation subsystem to change an orientation of the seeds beingdelivery to the seed delivery system.

Example 19 is the agricultural machine of any or all previous examples,wherein the seed sensor is configured to generate the seed sensor signalat a value that varies from a first level indicative of a seed not beingdetected to a second level indicative of a seed being detected, andwherein the agricultural machine further comprises:

signal width logic that identifies a signal width value indicative of atime for which the seed sensor signal has a value that continuouslymeets or exceeds the second level.

Example 20 is the agricultural machine of any or all previous examples,wherein the planting characteristic detection system detects, as thecharacteristic of the planting operation, that a spacing of seeds withinthe seed delivery system does not satisfy a target spacing.

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter. The claimed subject matter is not limited to implementationsthat solve any or all disadvantages noted in the background.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top view of one example of a planting machine, shown in apartial pictorial and partial schematic form.

FIG. 2 is a side view showing one example of a row unit of the plantingmachine illustrated in FIG. 1.

FIG. 3 is a side view showing another example of a row unit of theplanting machine illustrated in FIG. 1.

FIG. 4 is a perspective view of a portion of a seed metering system.

FIG. 5 shows an example of a seed delivery system that can be used witha seed metering system.

FIG. 6 shows another example of a seed delivery system that can be usedwith a seed metering system.

FIGS. 7-10 show examples of seed slugging in a seed delivery system.

FIG. 11 shows one example of a seed sensor signal indicative of seedslugging.

FIG. 12 shows one example of a seed sensor signal indicative of a seedorientation.

FIG. 13 is a block diagram of one example of a computing system.

FIG. 14 is a flow diagram illustrating one example of the operation ofthe computing system shown in FIG. 13 in detecting plantingcharacteristics, based on the seed sensor signal and generating controlsignals.

FIG. 15 is a flow diagram showing one example of the operation of a plugdetector, a seed orientation detector and a wear detector.

FIG. 16 is a flow diagram showing one example of the operation of a seedabnormality detector.

FIG. 17 shows one example of the architecture illustrated in FIGS. 1 and13, deployed in a remote server environment.

FIGS. 18-20 show examples of mobile devices that can be used as operatorinterface mechanisms in the architectures shown in the previous Figures.

FIG. 21 is a block diagram showing one example of a computingenvironment that can be used in the architectures shown in the previousFigures.

DETAILED DESCRIPTION

As discussed above many current systems use planters and/or air seedersin order to plant agricultural crops. Such systems often have a seedsensor that senses a seed as it moves from a storage tank or other seedstorage mechanism to a furrow that is opened in the ground by theplanter. In some instances, seeds can be misplaced by becoming bunchedtogether (creating a seed slug) so that multiple seeds are moved to thefurrow in very close proximity relative to one another, or even adjacentone another or on top of one another. Seed slugging can be caused by anumber of different things. In one example, for instance, the deliverysystem may become worn in a certain way that enhances the likelihood ofseed slugging. In another example, foreign material or water may enterthe system causing the seeds to group together to form a clump or slug.There are other reasons that seed slugging can occur as well.

In some cases the seed slug can become so large that it clogs part orall of the seed delivery mechanism or other portions of the planter.

In addition, some seeds have an elongate shape (e.g., they are longer inone direction than they are in another direction). For instance, soybeanseeds are relatively spherical. However, corn seeds tend to be elongatein one direction. In some systems, the elongate seeds can be moved intothe furrow in an undesirable orientation.

Also, in some systems, the crop seed that is being planted may containanomalous or abnormal seeds. For instance, seeds from certain types ofweeds may be very similar in size and shape to the seeds of theagricultural crop being planted. In that case, it can be difficult for aseed vendor (or other seed provider) to separate the anomalous orabnormal seeds from the regular crop seeds. However, it may be that theanomalous or abnormal seeds have a different visual appearance, in thatthey may be a different color, or have different spectralcharacteristics, from the crop seeds.

The present description thus proceeds with respect to receiving a seedsensor signal which is indicative of seed presence, and detecting anumber of different planter characteristics, based upon the seed sensorsignal. In one example, a seed sensor signal will have a certaincharacteristic (such as a certain peak width) when a singulated seed (asingle seed spaced by a predetermined amount from a next seed) isdetected but will have a different characteristic (such as a wider peakwidth) when multiple seeds are detected together in a slug or group.Similarly, it may have one characteristic when the seed is oneorientation, and a different characteristic when the seed is in adifferent orientation. Further, the signal may have one characteristic(such as a spectral characteristic or color) when a crop seed isdetected, but a different characteristic (such as a different spectralcharacteristic or color) when a different type of seed is detected. Thepresent description thus proceeds with respect to detecting these typesof planting characteristics and generating output and control signalsbased upon that detection.

FIG. 1 is a partial pictorial, partial schematic top view of one exampleof an architecture 90 that includes agricultural planting machine 100,towing vehicle 94, that is operated by operator 92, and computing system113, which can be on individual parts of machine 100, centrally locatedon machine 100, or on towing vehicle 94 or distributed. Operator 92 canillustratively interact with operator interface mechanisms 96 tomanipulate and control vehicle 94, system 113 and some portions ofmachine 100.

Machine 100 is a row crop planting machine that illustratively includesa toolbar 102 that is part of a frame 104. FIG. 1 also shows that aplurality of planting row units 106 are mounted to the toolbar 102.Machine 100 can be towed behind towing vehicle 94, such as a tractor.FIG. 1 shows that material, such as seed, fertilizer, etc. can be storedin a tank 107 and pumped, using one or more pumps, through supply linesto the row units. The seed, fertilizer, etc., can also be stored on therow units themselves.

FIG. 2 is a side view showing one example of a row unit 106. In theexample shown in FIG. 2, row unit 106 illustratively includes a chemicaltank 110 and a seed storage tank 112. It also illustratively includes adisc opener 114 (that opens a furrow 162), a set of gauge wheels 116,and a set of closing wheels 118 (that close furrow 162). Seeds from tank112 are fed by gravity into a seed meter 124. The seed meter controlsthe rate at which seeds are dropped into a seed tube 120 or other seeddelivery system, such as a brush belt, or flighted belt (both shownbelow) from seed storage tank 112. The seeds can be sensed by a seedsensor 119 and/or 122.

Some parts of row unit 106 will now be discussed in more detail. First,it will be noted that there are different types of seed meters 124, andthe one that is shown is shown for the sake of example only and isdescribed in greater detail below with respect to FIG. 4. For instance,in one example, each row unit 106 need not have its own seed meter.Instead, metering or other singulation or seed dividing techniques canbe performed at a central location, for groups of row units 106. Themetering systems can include rotatable discs, rotatable concave orbowl-shaped devices, among others. The seed delivery system can be agravity drop system (such as seed tube 120 shown in FIG. 2) in whichseeds are dropped through the seed tube 120 and fall (via gravitationalforce) through the seed tube and out the outlet end 121 into the furrow(or seed trench) 162. Other types of seed delivery systems are assistivesystems, in that they do not simply rely on gravity to move the seedfrom the metering system into the ground. Instead, such systems activelycapture the seeds from the seed meter and physically move the seeds fromthe meter to a lower opening, where they exit into the ground or trench.Some examples of these assistive systems are described in greater detailbelow with respect to FIGS. 3 and 5-10.

A downforce actuator 126 is mounted on a coupling assembly 128 thatcouples row unit 106 to toolbar 102. Actuator 126 can be a hydraulicactuator, a pneumatic actuator, a spring-based mechanical actuator or awide variety of other actuators. In the example shown in FIG. 2, a rod130 is coupled to a parallel linkage 132 and is used to exert anadditional downforce (in the direction indicated by arrow 134) on rowunit 106. The total downforce (which includes the force indicated byarrow 134 exerted by actuator 126, plus the force due to gravity actingon row unit 106, and indicated by arrow 136) is offset by upwardlydirected forces acting on closing wheels 118 (from ground 138 andindicated by arrow 140) and double disc opener 114 (again from ground138 and indicated by arrow 142). The remaining force (the sum of theforce vectors indicated by arrows 134 and 136, minus the force indicatedby arrows 140 and 142) and the force on any other ground engagingcomponent on the row unit (not shown), is the differential forceindicated by arrow 146. The differential force may also be referred toherein as the downforce margin. The force indicated by arrow 146 acts onthe gauge wheels 116. This load can be sensed by a gauge wheel loadsensor which may be located anywhere on row unit 106 where it can sensethat load. It can also be placed where it may not sense the loaddirectly, but a characteristic indicative of that load. For example, itcan be disposed near a set of gauge wheel control arms (or gauge wheelarm) 148 that movably mount gauge wheels 116 to shank 152 and control anoffset between gauge wheels 116 and the discs in double disc opener 114,to control planting depth. In addition, there may be a down forceactuator that increases the down force of the opener 114 (so it can moreeasily cut through residue, etc.).

Arms (or gauge wheel arms) 148 illustratively abut against a mechanicalstop (or arm contact member-or wedge) 150. The position of mechanicalstop 150 relative to shank 152 can be set by a planting depth actuatorassembly 154. Control arms 148 illustratively pivot around pivot point156 so that, as planting depth actuator assembly 154 actuates to changethe position of mechanical stop 150, the relative position of gaugewheels 116, relative to the double disc opener 114, changes, to changethe depth at which seeds are planted.

In operation, row unit 106 travels generally in the direction indicatedby arrow 160. The double disc opener 114 opens the furrow 162 in thesoil 138, and the depth of the furrow 162 is set by planting depthactuator assembly 154, which, itself, controls the offset between thelowest parts of gauge wheels 116 and disc opener 114. Seeds are droppedthrough seed tube 120, into the furrow 162 and closing wheels 118 closethe soil.

As the seeds are dropped through seed tube 120, they can be sensed byseen sensor 122. Some examples of seed sensor 122 are described ingreater detail below. Suffice it to say, for now, that it can be anoptical or reflective sensor which includes a radiation transmittercomponent and a receiver component. The transmitter component emitselectro-magnetic radiation and the receiver component then detects theradiation and generates a signal indicative of the presence or absenceof a seed adjacent the sensor. Again, some examples of seed sensors aredescribed in greater detail below.

Computing system 113 illustratively receives a seed sensor signal fromseed sensor 122, indicating that a seed is passing sensor 122 in seedtube 120. It then detects any of a wide variety of plantingcharacteristics based on the seed sensor signal. As discussed above,each row unit can have its own computing system 113 or a computingsystem 113 can serve multiple row units. This is all described ingreater detail below as well.

FIG. 3 is similar to FIG. 2, and similar items are similarly numbered.However, instead of the seed delivery system being a seed tube 120 whichrelies on gravity to move the seed to the furrow 162, the seed deliverysystem shown in FIG. 3 is an assistive seed delivery system 166.Assistive seed delivery system 166 also illustratively has a seed sensor122 disposed therein. Seed sensor 119 can be used in addition to, orinstead of, sensor 122. It performs in-trench seed sensing, as discussedbelow. Assistive seed delivery system 166 captures the seeds as theyleave seed meter 124 and moves them in the direction indicated by arrow168 toward furrow 162. System 166 has an outlet end 170 where the seedsexit assistive system 166, into furrow 162, where they again reach theirfinal seed position.

FIG. 4 shows one example of a rotatable mechanism that can be used aspart of the seed metering system (or seed meter) 124. The rotatablemechanism includes a rotatable disc, or concave element, 180. Concaveelement 180 has a cover (not shown) and is rotatably mounted relative tothe frame of the row unit 106. Rotatable element 180 is driven by amotor (not shown) and has a plurality of projections or tabs 182 thatare closely proximate corresponding apertures 184. A seed pool 186 isdisposed generally in a lower portion of an enclosure formed by rotatingmechanism 180 and its corresponding cover. Rotatable element 180 isrotatably driven by its motor (such as an electric motor, a pneumaticmotor, a hydraulic motor, etc.) for rotation generally in the directionindicated by arrow 188, about a hub. A pressure differential isintroduced into the interior of the metering mechanism so that thepressure differential influences seeds from seed pool 186 to be drawn toapertures 184. For instance, a vacuum can be applied to draw the seedsfrom seed pool 186 so that they come to rest in apertures 184, where thevacuum holds them in place. Alternatively, a positive pressure can beintroduced into the interior of the metering mechanism to create apressure differential across apertures 184 to perform the same function.

Once a seed comes to rest in (or proximate) an aperture 184, the vacuumor positive pressure differential acts to hold the seed within theaperture 184 such that the seed is carried upwardly generally in thedirection indicated by arrow 188, from seed pool 186, to a seeddischarge area 190. It may happen that multiple seeds are residing in anindividual seed cell. In that case, a set of brushes or other members194 that are located closely adjacent the rotating seed cells tend toremove the multiple seeds so that only a single seed is carried by eachindividual cell. Additionally, a seed sensor 193 can also illustrativelybe mounted adjacent to rotating element 180. It generates a signalindicative of seed presence and this may be used by system 113, as willbe discussed in greater detail below.

Once the seeds reach the seed discharge area 190, the vacuum or otherpressure differential is illustratively removed, and a positive seedremoval wheel or knock-out wheel 191, can act to remove the seed fromthe seed cell. Wheel 191 illustratively has a set of projections 195that protrude at least partially into apertures 184 to actively dislodgethe seed from those apertures. When the seed is dislodged (such as seed171), it is illustratively moved by the seed tube 120, seed deliverysystem 166 (some examples of which are shown above in FIGS. 2-3 andbelow in FIGS. 5-10) to the furrow 162 in the ground.

FIG. 5 shows an example where the rotating element 180 is positioned sothat its seed discharge area 190 is above, and closely proximate, seeddelivery system 166. In the example shown in FIG. 5, seed deliverysystem 166 includes a transport mechanism such as a belt 200 with abrush that is formed of distally extending bristles 202 attached to belt200 that act as a receiver for the seeds. Belt 200 is mounted aboutpulleys 204 and 206. One of pulleys 204 and 206 is illustratively adrive pulley while the other is illustratively an idler pulley. Thedrive pulley is illustratively rotatably driven by a conveyance motor,which can be an electric motor, a pneumatic motor, a hydraulic motor,etc. Belt 200 is driven generally in the direction indicated by arrow208

Therefore, when seeds are moved by rotating element 180 to the seeddischarge area 190, where they are discharged from the seed cells inrotating element 180, they are illustratively positioned within thebristles 202 by the projections 182 that push the seed into thebristles. Seed delivery system 166 illustratively includes walls thatform an enclosure around the bristles, so that, as the bristles move inthe direction indicated by arrow 208, the seeds are carried along withthem from the seed discharge area 190 of the metering mechanism, to adischarge area 210 either at ground level, or below ground level withina trench or furrow 162 that is generated by the furrow opener 114 on therow unit 106.

Additionally, a seed sensor 203 is also illustratively coupled to seeddelivery system 166. As the seeds are moved in bristles 202 past sensor203, sensor 203 can detect the presence or absence of a seed as will bediscussed below. It should also be noted that while the presentdescription will proceed as having sensors 119, 122, 193 and/or 203, itis expressly contemplated that, in another example, only one sensor isused. Or additional or different combinations of sensors can also beused.

FIG. 6 is similar to FIG. 5, except that seed delivery system 166 is notformed by a belt with distally extending bristles. Instead, it is formedby a flighted belt (transport mechanism) in which a set of paddles 214form individual chambers (or receivers), into which the seeds aredropped, from the seed discharge area 190 of the metering mechanism. Theflighted belt moves the seeds from the seed discharge area 190 to theexit end 210 of the flighted belt, within the trench or furrow 162.

There are a wide variety of other types of delivery systems as well,that include a transport mechanism and a receiver that receives a seed.For instance, they include dual belt delivery systems in which opposingbelts receive, hold and move seeds to the furrow, a rotatable wheel thathas sprockets which catch seeds from the metering system and move themto the furrow, multiple transport wheels that operate to transport theseed to the furrow, an auger, among others. The present description willproceed with respect to a brush belt, a flighted belt and/or a seedtube, but many other delivery systems are contemplated herein as well.

Before continuing with the description of sensing plantingcharacteristics based on the seed sensor signal, a brief description ofsome examples of seed sensors 119, 122, 193 and 203 will first beprovided. Sensors 122, 193 and 203 are illustratively coupled to seedmetering system 124 and seed delivery system 120, 166. In one example,sensors 122, 193 and 203 are seed sensors that are each mounted at asensor location to sense a seed within seed tube 120, seed meteringsystem 124 and delivery system 166, respectively, as the seed passes therespective sensor location. In one example, sensors 122, 193 and 203 areoptical or reflective sensors and thus include a transmitter componentand a receiver component. The transmitter component emitselectromagnetic radiation, into seed tube 120, seed metering system 180and/or delivery system 166. In the case of a reflective sensor, thereceiver component then detects the reflected radiation and generates asignal based on the reflected radiation, and indicative of the presenceor absence of a seed adjacent to sensor 122, 193 and 203. With othersensors, radiation such as light, is transmitted through the seed tube120, seed metering system 124 or the delivery system 166 at a locationgenerally aligned to cross the travel path of a seed. A receiver ismounted to an opposite side of the travel path of the seed. When thelight beam is interrupted by a seed, the sensor signal varies, toindicate a seed. Thus, each sensor 122, 193 and 203 generates a seedsensor signal that pulses or otherwise varies, and the pulses orvariations are indicative of the presence of a seed passing the sensorlocation proximate the sensor.

For example, in regards to sensor 203, bristles 202 pass sensor 203 andare colored to absorb a majority of the radiation emitted from thetransmitter. As a result, absent a seed, reflected radiation received bythe receiver is relatively low. Alternatively, when a seed passes thesensor location where sensor 203 is mounted, more of the emitted lightis reflected off the seed and back to the receiver, indicating thepresence of a seed. The differences in the reflected radiation allow fora determination to be made as to whether a seed is, in fact, present.Additionally, in other examples, sensors 122, 193 and 203 can includeinfrared sensors, a camera and image processing logic that allow visualdetection as to whether a seed is currently present within seed meteringsystem 124 seed tube 120 and/or seed delivery system 166, at the sensorlocation proximate the sensor. They can include an array of transmittersand/or receivers that provide signals indicative of seed presence. Theycan include a wide variety of other sensors as well.

In addition, sensor 119 can be formed like one of the sensors describedabove or differently. Sensor 119, however, illustratively performsin-trench seed sensing. It can sense seed presence, seed orientation,seed position (such as whether the seed is in proper position in thev-shaped trench 162 or sitting on top of residue), etc. For example, anoptical or IR sensor can distinguish between soil surface and residuesurface. If the seed is on residue surface, this information can be usedto control such things as down force, planter speed, down force onopener 114, etc. Also, while sensor 119 is shown in a particularlocation in the FIGS., it can be in any location where it can performin-trench seed sensing. Those locations shown are shown for exampleonly.

FIG. 7 shows a seed delivery system that is similar to that shown inFIG. 5, and similar items are similarly numbered. However, as shown inFIG. 7, the seeds being delivered by the bristles 202 in the brush belthave formed a number of different clusters (also referred to as slugs).Some clusters are shown at 216, 218, 220 and 222. There may be a varietyof different reasons why seed clusters (or seed slugs) are formed in thedelivery system. In one example, it may be that the brush belt orbristles 202 have worn to a point where the seeds can roll within thedelivery system 166 to form slugs. In one example, as referred toherein, a slug is a grouping of seeds in the delivery system where theseeds are closely proximate, or adjacent, one another, where the seedsare intended to be, instead, singulated or spaced by a desired distance.In another example, the seed metering system 124 may be worn ormalfunctioning so that it is delivering more than one seed at a timeinto the seed delivery system. In yet another example, it may be thatsome foreign matter or moisture has entered the seed tank, causing theseeds to clump together or otherwise adhere to one another in anundesirable way.

As the condition that caused the seed slugging worsens, the slugs canbecome more frequent, and larger. FIG. 8 is similar to FIG. 7 andsimilar items are similarly numbered. However, FIG. 8 shows that anumber of different seed slugs 224, 226 and 228 are now formed in thedelivery system. The seed slugs are illustratively increasing in sizeand frequency of occurrence.

FIG. 9 is similar to FIG. 8, and similar items are similarly numbered.However, FIG. 9 shows that the seed slugs are continuing to increase insize and frequency so that, slugs 230, 232 and 234 are occurring closeto one another, and are increasing in size over those shown in previousFIGS. This can continue until seed delivery system 166 becomescompletely plugged or clogged. One example of this is shown in FIG. 10.It can be seen in FIG. 10 that a seed slug 236 has grown to such a sizethat it is completely plugging the seed delivery system 166.

These same types of seed misplacements can also be detected by sensor119. However, instead of detecting them in the seed delivery system,they are detected in the trench 162.

It is currently quite difficult for an operator to know that slugging orplugging is occurring. It will be noted, though, that the sensor signaloutput by seed sensor 203 will have characteristics that vary whenslugging or plugging occurs. FIG. 11 is an example of a graph showingthe value of a seed sensor signal (e.g., in volts) graphed along they-axis and time graphed along the x-axis. In the example illustrated inFIG. 11, sensor 203 is a reflective type sensor so that the outputsignal will have a higher value (indicating more reflected radiation),that exceeds a seed present value, when a seed is currently beingsensed. In the example shown in FIG. 11, the peaks 238 and 240 have arelatively narrow peak width (or signal width) that is continuouslyabove the seed present value that indicates that a seed is present (oris being sensed by sensor 203). Thus, the peaks 238 and 240 in FIG. 11are indicative of a single seed being sensed.

Peak 242, however, is wider than peaks 238 and 240 in that it has asignal width that is continuously above the seed present value and thatis wider than the signal width of peaks 238 and 240 that is continuouslyabove the seed present value. Therefore, in one example, when the seedsensor signal has a peak width (or signal width) such as that shown atpeak 242, this indicates that multiple seeds are bunched together, asthey pass seed sensor 203. This is an indication of slugging. Similarly,the width of peak 244 (or the signal width continuously above the seedpresent value) is even greater than the width of peak 232. Thisindicates that a larger slug (or possibly a complete plug) is occurringin the seed delivery system 166. Thus, as will be described below withrespect to FIGS. 13-16, analyzing the seed sensor signal, andparticularly the peak width (or signal width continuously above the seedpresent value) output by the seed sensor, can give an indication as towhether slugging or plugging is occurring.

For purposes of the present description, the terms peak width and signalwidth will be used interchangeably. They, in one example, refer to atime span during which the seed sensor signal continuously meets theseed present value.

In addition, performing peak width analysis (also referred to as signalwidth analysis) to identify whether multiple seeds are bunching togetheras they pass seed sensor 203 can be done in order to determine howfrequently slugging is occurring. If it is occurring with increasingfrequency, this may be indicative of an undesirable condition in the rowunit, such as brush belt wear, such as the intrusion of foreign matteror moisture into the system, such as meter malfunction, etc. Similarly,if the peak widths in the sensor signal are sufficiently wide (e.g., ascompared to an expected value or threshold value), this may alsoindicate that large seed slugs are being formed or that plugging isoccurring in the seed delivery system. Thus, action can be taken basedon the analysis of the seed sensor signal.

FIG. 12 shows an enlarged portion of seed delivery system 166. It alsoshows an example graph of the seed sensor signal generally at 246.Again, the graph 246 shows the value (e.g., in volts) of the seed sensorsignal along the y-axis and time along the x-axis. In the example shownin FIG. 12, the bristles 202 in delivery system 166 are carryingelongate seeds, such as corn seeds. FIG. 12 shows two different seeds248 and 250 that are being carried in the bristles 202 of the brush beltthat forms part of seed delivery system 166.

FIG. 12 shows that the elongate seeds 248 and 250 are being carried intwo different orientations. Seed 248 is oriented in the bristles 202 ofseed delivery system 166 so that its elongate axis is generally alignedwith the direction of travel indicated by arrow 208. Seed 250, on theother hand, is oriented so that its elongate axis is transverse to thedirection of travel indicated by arrow 208. The seed sensor signal shownat graph 246 shows that a first peak 252 corresponds to a position intime when seed 248 was passing seed sensor 203. It can be seen that thepeak width (or signal width) of peak 252 is relatively wide. The seedsensor signal 246 also shows that a second peak 254 occurred morerecently, and corresponds to a position in time when seed 250 waspassing seed sensor 203. It can be seen that the peak width (or signalwidth) of peak 254 is narrower than that of peak 252. This is becausethe amount of time that seed sensor 203 was sensing the presence of aseed, when seed 248 was passing it, is longer than the amount of time itwas sensing the presence of a seed, when seed 250 was passing it, due tothe different orientations of the two seeds 248 and 250.

Thus, as is described below, seeds that have an elongate axis may havedifferent orientations when they are traveling through delivery system166. By analyzing the peak width of the seed sensor signal generated bysensor 203, the orientation of the seeds can be detected. Variousdifferent control operations can be performed based on the detected seedorientation.

Another characteristic can also be detected using the seed sensor signalgenerated from seed sensor 203. It may be that the crop seeds have adifferent spectral characteristic (e.g., color) than similarly sizedseeds that are weeds or some seed other than the intended crop seeds.For example, soybean seeds are relatively light, while nightshade seeds,although they are a similar size to soybean seeds, are relatively dark.Because the seeds are similar in size, it can be difficult for amechanical mechanism to sort out nightshade seeds from soybean seeds.Thus, the seed metering system may be metering weed seeds instead ofcrop seeds.

However, the characteristic of the sensor signal generated by seedsensor 203 can indicate this as well. For instance, if seed sensor 203is an image sensor or another sensor that is sensitive to the spectralcharacteristics of the seeds that it is sensing, the seed sensor signalcan have characteristics that identify when an anomalous seed isdetected (such as a seed that has a spectral characteristic that differssignificantly from a crop seed). A number of actions can be taken whenthis is detected. For example, the location of the anomalous seeds canbe mapped for later application of herbicide. Also, the rate at whichseeds are being planted (e.g., the population) can be temporarilyincreased to accommodate for the anomalous seed that was planted. Theseare just examples.

FIG. 13 is a block diagram of one example of computing system 113. FIG.13 shows that computing system 113 is receiving seed sensor signals fromone or more seed sensors 119, 122, 193 and 203. For purposes of example,the present discussion will proceed with respect to the sensor beingsensor 203. This is an example only, and a wide variety of other seedsensor signals can be received as well.

FIG. 13 also shows that computing system 113 can receive an input from aposition sensor 260. Position sensor 260 may be, for instance, a GNSSreceiver (e.g., a GPS receiver, a GLONASS receiver, etc.) or anothertype of position sensor. It may be a position sensor that sensesposition using cellular triangulation, dead reckoning, etc. FIG. 13 alsoshows that computing system 113 can receive a seed type indicator 262that can be the output of a seed type detector, or it can be input bythe operator, or received in other ways. The seed type indicator 262will illustratively include the type of crop, the particular hybrid,and/or other seed characteristics. FIG. 13 shows that computing system113 can receive inputs from a wide variety of other items 264 as well.

System 113 illustratively generates outputs 266 that can be provided toan operator interface mechanism 96 for interaction by operator 92. Itcan also provide outputs that are provided to other systems, such asremote systems, or other computing systems.

In the example shown in FIG. 13, computing system 113 illustrativelyincludes one or more processors 268, signal conditioning logic 270, datastore 272 (which can store seed type characteristics 274 and other items276), interface logic 278, planting characteristic detection system 280,control system 282, controllable subsystems 284, and it can include awide variety of other items 286. Planting characteristic detectionsystem 280 can include peak width logic 288, plug detector 290, seedabnormality detector 292, in-trench position detector 293, seedorientation detector 294, wear detector 296, location system 298, and itcan include a wide variety of other items 300. Plug detector 290 caninclude slug detection logic 312, slug frequency detection logic 314,slug size detection logic 316 and it can include other items 318.Controllable subsystems 284 can include population control subsystem302, seed orientation control subsystem 304, down force subsystem 305,communication subsystem 306, propulsion control subsystem 307, mappingsubsystem 308, and it can include a wide variety of other items 310.Before describing the operation of computing system 113 in more detail,a brief description of some of the items in computing system 113, andtheir operation, will first be provided.

Signal conditioning logic 270 illustratively receives the varioussignals input to computing system 113 and can perform conditioningoperations. For instance, it can perform amplification, filtering,linearization, normalization, etc. The conditioned signals can then beprovided to various other items in computing system 113, such asplanting characteristic detection system 280.

System 280 can use peak width logic 288 to perform peak width analysison the sensor signals from one or more of the various seed sensors. Plugdetector 290 can receive the output of the peak analysis and use slugdetection logic 312 to identify whether slugging or clumping or othergrouping of the seeds is occurring. Slug frequency detection logic 314can detect the frequency with which that slugging or clumping or othergrouping is occurring. It can also detect whether the frequency isincreasing, decreasing, whether it has increased over a threshold level,etc. Slug size detection logic 316 can detect the size of the slugs,clumps or other groupings of seeds as they pass by the seed sensor. Itcan identify the risk that a plug will develop. It can do this, forinstance, by using the peak width analysis results provided by peakwidth logic 288. Plug detector 290 can perform other operations usingother items 318 as well.

Based upon the output from plug detector 290, wear detector 296 candetermine whether the slugs or clumps are indicative of wear that hasoccurred in the delivery system, the metering system or other parts ofmachine 100. For instance, it may be that certain slugging or groupingcharacteristics are indicative of different types of wear. If themachine is planting soybeans, for instance, and the slugging graduallyincreases over time, this may indicate that the bristles 202 on thebrush belt are wearing to a significant degree. However, if the sluggingor grouping appears very quickly, and the slugs or groups are relativelylarge, this may indicate a different type of wear or performance issuewith the machine. Wear detector 296 can identify the different types ofwear conditions that are occurring, based on the output of plug detector290, by using a dynamic model that models wear of the various systems inthe machine, by using a lookup table or another mechanism thatcorrelates the output of plug detector 290 to different wear conditions,or it can do this in other ways.

If the sensor is performing in-trench sensing, then in-trench seedposition detector 293 can generate signals indicating whether the seedis properly positioned within the trench 162, or whether it is misplaced(in terms of seed spacing, in terms of position in the center of thetrench 162 or offset to one side, or sitting on residue, etc.). Theseare examples only.

Seed orientation detector 294 can identify the orientation of the seedsbased upon the seed sensor signals, and/or based upon the output of peakwidth logic 288. For instance, if the seed type indicator 262 identifiesa seed type that has an elongate axis, then the peak width analysisperformed on the seed sensor will be indicative of the orientation ofthe seeds being sensed. Seed orientation detector 294 can generate anoutput indicative of the orientation of the seeds.

Seed abnormality detector 292 can perform spectral analysis or othertypes of analyses on the seed sensor signals to determine whether thereis an anomalous or abnormal seed that is being detected. As discussedabove, detector 292 can perform a spectral analysis on the seed sensorsignal to determine whether the spectral characteristics of the seedbeing detected are consistent with the crop being planted, as indicatedby the seed type indicator 262. Those characteristics can be stored asseed type characteristics 274. Detector 292 can generate an outputindicating when an anomalous or abnormal seed is being detected.

Location system 298 can identify the location of the machine when thevarious outputs generated by planting characteristics detection system280 are generated. In this way, the location of the machine when slugsor plugging occurred, when anomalous seeds were planted, whenperformance issues arose, etc., can be identified.

Control system 282 can receive inputs from the sensors and other itemsin computing system 113 and generate control signals to control any ofthe controllable subsystems 284, or other items. For instance, when seedabnormality detector 292 detects that abnormal or anomalous seeds arebeing planted, control system 282 can generate a control signal tocontrol the population control subsystem 302 to temporarily increase theseed population being planted in order to make up for the anomalous orabnormal seeds that were planted. This may be, for instance, increasingthe speed at which the metering system meters the seeds and/orincreasing the speed at which the delivery system delivers the seeds.Control system 282 can also receive an input from location system 298and generate control signals to control mapping subsystem 208 to map thelocations where the abnormal or anomalous seeds were planted, so thatthose locations can be targeted for later herbicide application. It canalso control mapping subsystem 308 to map any of the other itemsdetected by planting characteristic detection system 280.

Control system 282 can receive an output from seed orientation detector292 and generate control signals to control seed orientation controlsubsystem 304. For instance, a seed orientation control subsystem may beconfigurable or variable to change the orientation of the seeds, as theyenter the seed delivery system. Where a particular orientation is deemedto be favorable over other orientations, then the seed orientationcontrol subsystem can be controlled to bias the seeds into thatfavorable orientation, as they enter the seed delivery system so thatthey are placed in the furrow 162 in the desired orientation.

Control system 282 can also receive the outputs from plantingcharacteristic detection system 280 and control communication subsystem306 to generate a communication to operator 92, using operator interfacemechanism 96. It can control the communication subsystem 306 tocommunicate with remote computing systems, with a farm manager computingsystem, a vendor or manufacturer computing system, with a maintenanceperson's computing system, etc.

By way of example, where control system 282 receives an input from weardetector 296 indicating that the delivery system or another part ofmachine 100 has undergone wear, and it needs maintenance, communicationsubsystem 306 can automatically generate a communication to amaintenance person's computing system indicating that the next timemachine 100 is serviced, the delivery system or other part of machine100 should be serviced as well. Similarly, control system 282 cangenerate control signals to control communication subsystem 306 todisplay an alert to operator 92 indicating that the machine is plugged,that it is slugging, or indicating other compromised performance issues.These are examples only.

Interface logic 278 illustratively allows computing system 113 tointerface with other computing systems, with towing vehicle 94, withremote computing systems, etc. Interface logic 278 can also receiveinputs from the other computing systems and provide an indication ofthose inputs to computing system 113.

If control system 282 receives signals from in-trench seed positiondetector 293 that the seed is sitting on the residue, it can controldown force subsystem 305 to modify the down force on opener 114, ongauge wheels 116, etc. It can control propulsion control system 307 tocontrol the speed of the tractor or to otherwise control the groundspeed of machine 100.

FIG. 14 is a flow diagram illustrating one example of the operation ofcomputing system 113 in detecting planting characteristics based on theseed sensor signal and controlling the controllable subsystems basedupon those detected characteristics. It is first assumed that theplanter 100 is running. This is indicated by block 340. Computing system113 can then receive inputs from various items, such as the seed typeindicator 262 which can be an input from an operator, or it can besensed, or received in a different way. This is indicated by block 342.The computing system 113 can receive a wide variety of other inputs 344,such as the position sensor input 260, or other inputs.

Computing system 113 also receives the seed sensor signal from one ormore of the seed sensors 119, 122, 193 and 203. This is indicated byblock 346. The seed sensor signal can be from an IR, optic, image orother sensor, as indicated by block 347. It can be generated from asingle seed sensor per row unit, as indicated by block 348, or it can befrom an array or other arrangement of multiple seed sensors per rowunit, as indicated by block 350. The seed sensors can be reflective seedsensors, transmissive seed sensors, image sensors, spectral sensors, orany of a wide variety of other seed sensors, as described above. Theseed sensors can be arranged in other ways as well, and this isindicated by block 352.

Computing system 113 then performs planting characteristic detectionusing the seed sensor signals. This is indicated by block 354 in theflow diagram of FIG. 14. Peak width logic 288 can analyze the peak widthof the seed sensor signal, or another characteristic of the seed sensorsignal that indicates seed presence. This is indicated by block 356 inthe flow diagram of FIG. 14. Plug detector 290 can then perform slug orplug detection. This is indicated by block 358. This is also describedin more detail below with respect to FIG. 15.

Seed orientation detector 294 can detect seed orientation. This isindicated by block 360 and it is also discussed in more detail belowwith respect to FIG. 15.

Seed abnormality detector 292 can detect seed anomalies orabnormalities. This is indicated by block 362 in the flow diagram ofFIG. 14. As discussed above, this can be done based on a spectralanalysis, based upon an image analysis, or in other ways.

Wear detector 296 can detect whether there are wear conditions occurringon machine 100, based on the seed sensor signal. This is indicated byblock 364. In-trench seed position detector 293 can perform in-trenchseed detection, as indicated by block 365. Planting characteristicdetection system 280 can detect any of a wide variety of other plantingcharacteristics, based on the seed sensor signal, as well. This isindicated by block 366.

Planting characteristic detection system 280 then outputs detectedcharacteristic signals based upon the various planting characteristicsthat have been detected. These signals can be provided to control system282, or to other items. Outputting the detected characteristic signalsis indicated by block 368 in the flow diagram of FIG. 14

Control system 282 then generates control signals, to control one ormore of the various controllable subsystems 282, or other subsystems.Generating control signals based on the detected characteristic signalsis indicated by block 370 in the flow diagram of FIG. 14.

The control signals are applied to the controllable subsystems 284 inorder to control the controllable subsystems 284 using the controlsignals. This is indicated by block 372. As examples, control system 282can control communication subsystem 306 to communicate an operator alertto operator 92, of any or all of the various planting characteristicsdetected by system 280. This is indicated by block 374 in the flowdiagram of FIG. 14.

Control system 282 can also control seed orientation control subsystem304 in order to control the orientation of the seeds being planted. Thisis indicated by block 376 in the flow diagram of FIG. 14.

Control system 282 can control the population control subsystem 302 inorder to increase or decrease the seed population, temporarily or for alonger period of time, based upon the detected planting characteristics.This is indicated by block 378 in the flow diagram of FIG. 14. Controlsystem 282 can control mapping subsystem 308 to generate maps of thevarious planting characteristics detected. This is indicated by block380.

Control system 282 can control various down force components on the rowunit by controlling down force subsystem 300. This is indicated by block381. It can control the ground speed of machine 100 by controllingpropulsion subsystem 307, as indicated by block 383.

It will be appreciated that control system 282 can control any of a widevariety of subsystems 310 as well. This can be done in order to performany of a wide variety of other control operations based upon thedetected planting characteristics. This is indicated by block 382 in theflow diagram of FIG. 14.

Computing system 113 can continue to perform in this way until theplanting operation is complete or until other criteria are met. This isindicated by block 384 in the flow diagram of FIG. 14.

FIG. 15 is a flow diagram illustrating one example of the operation ofplug detector 290 and the operation of seed orientation detector 294, inmore detail. It is first assumed that the seed sensors 122, 193 and 203indicate the presence of or absence of a seed based upon a signal thatreaches a sufficient amplitude, at its peak, to demonstrate that a seedis present. This, of course, is only one type of seed sensor and it isdescribed for the sake of example only. Given this example, peak widthlogic 288 receives the seed sensor signal and identifies the seed sensorsignal peak width. This is indicated by block 386 in the flow diagram ofFIG. 15. As mentioned above, this assumes that the seed sensor signaldemonstrates seed presence based upon the amplitude or magnitude of theseed sensor signal, at its peak, or that it at least reaches a thresholdlevel, at its peak. This is indicated by block 388. Identifying the seedsensor signal peak width can be done in other ways as well, and this isindicated by block 390.

In one example, peak width logic 288 compares the width of the peak ofthe seed sensor signal (e.g., the amount of time that it is above the“seed present” threshold value) to an expected peak width for a singleseed detection. This is indicated by block 392. The expected peak widthcan be predefined and stored as a seed type characteristic 274, or itcan be determined dynamically. This comparison can be made, taking intoaccount a threshold margin or tolerance value as well. This is indicatedby block 394 in the flow diagram of FIG. 15. The peak width can beanalyzed against an expected peak width in other ways as well, and thisis indicated by block 396.

If the detected peak width of the seed sensor signal is consistent withthe expected peak width, then this indicates that a single seed (or asingulated seed) has been detected. In that case, it may be that nofurther analysis or characteristic detection is performed with respectto that signal. However, if, as indicated by block 398, it is determinedthat the peak width of the seed sensor is greater than the expected peakwidth (or is otherwise inconsistent with it), then slug detection logic312 can determine that a slug or other undesirable seed grouping, hasbeen detected. This is indicated by block 400.

Slug frequency detection logic 314 can update a frequency value thatindicates how frequently the slugs or seed groupings are being detected.This is indicated by block 402. Instead of updating a slug frequency, itmay simply update a count of the number of slugs or undesirable seedgroupings that are detected. This is also indicated by block 402.

Slug size detection logic 316 can also detect the size of the slug,based upon the length of time that the seed sensor signal iscontinuously above the seed detection value (e.g., based upon the sizeof the peak width or signal width of the seed sensor signal). Detectingthe slug size is indicated by block 404. Plug detector 290 can alsodetermine, based upon the frequency, the size of the slug, etc., whetherthe delivery system is in fact plugged, or is at risk of plugging. Thismay be done, for instance, by identifying that the frequency of slugdetection is increasing as is the size of the detected slugs.Identifying a plugging risk can be done in other ways as well, and thisis indicated by block 406 in the flow diagram of FIG. 15.

Based upon the information generated by slug detection logic 312, slugfrequency detection logic 314 and size detection logic 316, and perhapsthe output of peak width logic 288, wear detector 296 can identifylikely wear characteristics that are occurring. This is indicated byblock 408. For instance, the signals from plug detector 290 and peakwidth logic 288 may be correlated to different wear patterns ordifferent wear circumstances that occur, and that give rise to thedifferent types of plugging and peak width characteristics of the seedsensor signal. These correlations may be captured in a model or lookuptable stored in data store 272 or they can be captured in a dynamiccorrelation mechanism such as a machine learned classifier or set ofequations. Thus, wear detector 296 may identify certain types of wearthat are likely taking place based upon that information from detector290 and logic 288 and/or other inputs.

Planting characteristic detection system 280 then generates outputsignals indicative of the detected plug and wear characteristics. Thisis indicated by block 410. Those signals can be provided to other itemsin planting detection system 280 and/or to control system 282 or otheritems.

When seed orientation detection is to be performed then, at block 398the seed sensor signal peak width can be compared to a first expectedvalue corresponding to the seed being in a first orientation with itselongate axis transverse to the direction of travel. The peak width ofthe seed sensor signal can also be compared at block 398 to a secondexpected value corresponding to the seed being in a second orientationwith its elongate axis parallel to the direction of travel. If the peakwidth is greater than that second expected value, then slugging may beoccurring and processing continues at block 400. If not, however, thenseed orientation detector 294 can identify the seed orientation based onthe sensor signal. This is indicated by block 412.

For purposes of the present example, it is assumed that the seed beingplanted has an elongate axis. Then, if seed orientation is to bedetected, the peak width can be compared against the first expected peakwidth value for a seed oriented such that its elongate axis istransverse to the direction of travel of the seed delivery system. Ifthe peak width of the seed sensor signal is consistent with (e.g., thesame as, within a tolerance) the first expected value, then the seed islikely oriented with the elongate axis transverse to, or less alignedwith, the direction of travel. If it is greater than the first expectedpeak width value, then the peak width of the sensor signal can becompared to the second expected value. If the sensor signal has a peakwidth that is consistent with the second expected value, then this willindicate that the seed is likely oriented with its elongate axisgenerally parallel to, or otherwise generally aligned with, thedirection of travel.

Seed orientation detector 294 can monitor seed orientation, because thismay be used in determining whether action is to be taken. For instance,if it is desired that the seeds are planted in a particular orientation,then seed orientation detector 294 can identify how often they are inthat orientation, relative to other, undesired orientations. When a seedis detected in one orientation or the other, it can update anorientation count or frequency variable that indicates how often theseeds are in the different orientations. This is indicated by block 414.It can also generate output signals indicative of seed orientation, thefrequency that the seeds are in each of the orientations, or othersignals. This is indicated by block 416. Again, these signals can beprovided to control system 282 to control any of the variouscontrollable subsystems 284.

FIG. 16 is a flow diagram illustrating one example of the operation ofseed abnormality detector 292 in detecting anomalous or abnormal seedsbased on the seed sensor signal. In one example, it first detects seedcolor (or another spectral characteristic) of the seed, based upon theseed sensor signal. This is indicated by block 418 in the flow diagramof FIG. 16.

It then compares the detected color or spectral characteristic with anexpected color or spectral characteristic for the crop seeds beingplanted. This is indicated by block 420 in the flow diagram of FIG. 16.If an abnormality is detected with respect to the sensed color orspectral characteristic, then seed abnormality detector 292 can alsoupdate a variable indicative of the count of abnormalities, or thefrequency with which they are detected. This is indicated by blocks 422and 424 in the flow diagram of FIG. 16. It can generate output signalsindicative of the fact that an abnormal or anomalous seed has beendetected, the count and/or frequency with which anomalous or abnormalseeds have been detected, and other items. Control system 282 can thengenerate control signals based upon that information. Generating outputsignals indicative of detected abnormalities is indicated by block 426in the flow diagram of FIG. 16.

The present discussion has mentioned processors and servers. In oneexample, the processors and servers include computer processors withassociated memory and timing circuitry, not separately shown. They arefunctional parts of the systems or devices to which they belong and areactivated by, and facilitate the functionality of the other componentsor items in those systems.

It will be noted that the above discussion has described a variety ofdifferent systems, components and/or logic. It will be appreciated thatsuch systems, components and/or logic can be comprised of hardware items(such as processors and associated memory, or other processingcomponents, some of which are described below) that perform thefunctions associated with those systems, components and/or logic. Inaddition, the systems, components and/or logic can be comprised ofsoftware that is loaded into a memory and is subsequently executed by aprocessor or server, or other computing component, as described below.The systems, components and/or logic can also be comprised of differentcombinations of hardware, software, firmware, etc., some examples ofwhich are described below. These are only some examples of differentstructures that can be used to form the systems, components and/or logicdescribed above. Other structures can be used as well.

Also, a number of user interface displays have been discussed. They cantake a wide variety of different forms and can have a wide variety ofdifferent user actuatable input mechanisms disposed thereon. Forinstance, the user actuatable input mechanisms can be text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. They can alsobe actuated in a wide variety of different ways. For instance, they canbe actuated using a point and click device (such as a track ball ormouse). They can be actuated using hardware buttons, switches, ajoystick or keyboard, thumb switches or thumb pads, etc. They can alsobe actuated using a virtual keyboard or other virtual actuators. Inaddition, where the screen on which they are displayed is a touchsensitive screen, they can be actuated using touch gestures. Also, wherethe device that displays them has speech recognition components, theycan be actuated using speech commands.

A number of data stores have also been discussed. It will be noted theycan each be broken into multiple data stores. All can be local to thesystems accessing them, all can be remote, or some can be local whileothers are remote. All of these configurations are contemplated herein.

Also, the figures show a number of blocks with functionality ascribed toeach block. It will be noted that fewer blocks can be used so thefunctionality is performed by fewer components. Also, more blocks can beused with the functionality distributed among more components.

FIG. 17 is a block diagram of the architecture, shown in FIG. 1, exceptthat it communicates with elements in a remote server architecture 500.In an example, example, remote server architecture 500 can providecomputation, software, data access, and storage services that do notrequire end-user knowledge of the physical location or configuration ofthe system that delivers the services. In various examples, remoteservers can deliver the services over a wide area network, such as theinternet, using appropriate protocols. For instance, remote servers candeliver applications over a wide area network and they can be accessedthrough a web browser or any other computing component. Software orcomponents shown in FIG. 17 as well as the corresponding data, can bestored on servers at a remote location. The computing resources in aremote server environment can be consolidated at a remote data centerlocation or they can be dispersed. Remote server infrastructures candeliver services through shared data centers, even though they appear asa single point of access for the user. Thus, the components andfunctions described herein can be provided from a remote server at aremote location using a remote server architecture. Alternatively, theycan be provided from a conventional server, or they can be installed onclient devices directly, or in other ways.

In the example shown in FIG. 17, some items are similar to those shownin FIGS. 1 and 13 and they are similarly numbered. FIG. 17 specificallyshows that remote system(s) 115 and/or data store 272 can be located ata remote server location 502. Therefore, system 113 accesses thosesystems through remote server location 502.

FIG. 17 also depicts another example of a remote server architecture.FIG. 17 shows that it is also contemplated that some elements of FIGS. 1and 13 can be disposed at remote server location 502 while others arenot. By way of example, data store 272 can be disposed at a locationseparate from location 502, and accessed through the remote server atlocation 502. Regardless of where they are located, they can be accesseddirectly by system 113, through a network (either a wide area network ora local area network), they can be hosted at a remote site by a service,or they can be provided as a service, or accessed by a connectionservice that resides in a remote location. Also, the data can be storedin substantially any location and intermittently accessed by, orforwarded to, interested parties. For instance, physical carriers can beused instead of, or in addition to, electromagnetic wave carriers. Insuch an example, where cell coverage is poor or nonexistent, anothermobile machine (such as a fuel truck) can have an automated informationcollection system. As the planter comes close to the fuel truck forfueling, the system automatically collects the information from theplanter using any type of ad-hoc wireless connection. The collectedinformation can then be forwarded to the main network as the fuel truckreaches a location where there is cellular coverage (or other wirelesscoverage). For instance, the fuel truck may enter a covered locationwhen traveling to fuel other machines or when at a main fuel storagelocation. All of these architectures are contemplated herein. Further,the information can be stored on the planter until the planter enters acovered location. The planter, itself, can then send the information tothe main network.

It will also be noted that the elements of FIGS. 1 and 13, or portionsof them, can be disposed on a wide variety of different devices. Some ofthose devices include servers, desktop computers, laptop computers,tablet computers, or other mobile devices, such as palm top computers,cell phones, smart phones, multimedia players, personal digitalassistants, etc.

FIG. 18 is a simplified block diagram of one illustrative example of ahandheld or mobile computing device that can be used as a user's orclient's hand held device 16, in which the present system (or parts ofit) can be deployed. For instance, a mobile device can be deployed inthe operator compartment of towing vehicle 94 for use in generating,processing, or displaying the planting characteristics or otherinformation. FIGS. 19-20 are examples of handheld or mobile devices.

FIG. 18 provides a general block diagram of the components of a clientdevice 16 that can run some components shown in FIGS. 1 and 13, thatinteracts with them, or both. In the device 16, a communications link 13is provided that allows the handheld device to communicate with othercomputing devices and in some examples provides a channel for receivinginformation automatically, such as by scanning. Examples ofcommunications link 13 include allowing communication though one or morecommunication protocols, such as wireless services used to providecellular access to a network, as well as protocols that provide localwireless connections to networks.

In other examples, applications can be received on a removable SecureDigital (SD) card that is connected to an interface 15. Interface 15 andcommunication links 13 communicate with a processor 17 (which can alsoembody processors from previous FIGS.) along a bus 19 that is alsoconnected to memory 21 and input/output (I/O) components 23, as well asclock 25 and location system 27.

I/O components 23, in one example, are provided to facilitate input andoutput operations. I/O components 23 for various examples of the device16 can include input components such as buttons, touch sensors, opticalsensors, microphones, touch screens, proximity sensors, accelerometers,orientation sensors and output components such as a display device, aspeaker, and or a printer port. Other I/O components 23 can be used aswell.

Clock 25 illustratively comprises a real time clock component thatoutputs a time and date. It can also, illustratively, provide timingfunctions for processor 17.

Location system 27 illustratively includes a component that outputs acurrent geographical location of device 16. This can include, forinstance, a global positioning system (GPS) receiver, a LORAN system, adead reckoning system, a cellular triangulation system, or otherpositioning system. It can also include, for example, mapping softwareor navigation software that generates desired maps, navigation routesand other geographic functions.

Memory 21 stores operating system 29, network settings 31, applications33, application configuration settings 35, data store 37, communicationdrivers 39, and communication configuration settings 41. Memory 21 caninclude all types of tangible volatile and non-volatilecomputer-readable memory devices. It can also include computer storagemedia (described below). Memory 21 stores computer readable instructionsthat, when executed by processor 17, cause the processor to performcomputer-implemented steps or functions according to the instructions.Processor 17 can be activated by other components to facilitate theirfunctionality as well.

FIG. 19 shows one example in which device 16 is a tablet computer 600.In FIG. 19, computer 600 is shown with user interface display screen602. Screen 602 can be a touch screen or a pen-enabled interface thatreceives inputs from a pen or stylus. It can also use an on-screenvirtual keyboard. Of course, it might also be attached to a keyboard orother user input device through a suitable attachment mechanism, such asa wireless link or USB port, for instance. Computer 620 can alsoillustratively receive voice inputs as well.

FIG. 20 shows that the device can be a smart phone 71. Smart phone 71has a touch sensitive display 73 that displays icons or tiles or otheruser input mechanisms 75. Mechanisms 75 can be used by a user to runapplications, make calls, perform data transfer operations, etc. Ingeneral, smart phone 71 is built on a mobile operating system and offersmore advanced computing capability and connectivity than a featurephone.

Note that other forms of the devices 16 are possible.

FIG. 21 is one example of a computing environment in which elements ofFIGS. 1 and 13, or parts of it, (for example) can be deployed. Withreference to FIG. 21, an example system for implementing someembodiments includes a general-purpose computing device in the form of acomputer 810. Components of computer 810 may include, but are notlimited to, a processing unit 820 (which can comprise processors fromprevious Figures), a system memory 830, and a system bus 821 thatcouples various system components including the system memory to theprocessing unit 820. The system bus 821 may be any of several types ofbus structures including a memory bus or memory controller, a peripheralbus, and a local bus using any of a variety of bus architectures. Memoryand programs described with respect to FIGS. 1 and 8 can be deployed incorresponding portions of FIG. 21.

Computer 810 typically includes a variety of computer readable media.Computer readable media can be any available media that can be accessedby computer 810 and includes both volatile and nonvolatile media,removable and non-removable media. By way of example, and notlimitation, computer readable media may comprise computer storage mediaand communication media. Computer storage media is different from, anddoes not include, a modulated data signal or carrier wave. It includeshardware storage media including both volatile and nonvolatile,removable and non-removable media implemented in any method ortechnology for storage of information such as computer readableinstructions, data structures, program modules or other data. Computerstorage media includes, but is not limited to, RAM, ROM, EEPROM, flashmemory or other memory technology, CD-ROM, digital versatile disks (DVD)or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by computer 810. Communication media may embody computerreadable instructions, data structures, program modules or other data ina transport mechanism and includes any information delivery media. Theterm “modulated data signal” means a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal.

The system memory 830 includes computer storage media in the form ofvolatile and/or nonvolatile memory such as read only memory (ROM) 831and random access memory (RAM) 832. A basic input/output system 833(BIOS), containing the basic routines that help to transfer informationbetween elements within computer 810, such as during start-up, istypically stored in ROM 831. RAM 832 typically contains data and/orprogram modules that are immediately accessible to and/or presentlybeing operated on by processing unit 820. By way of example, and notlimitation, FIG. 21 illustrates operating system 834, applicationprograms 835, other program modules 836, and program data 837.

The computer 810 may also include other removable/non-removablevolatile/nonvolatile computer storage media. By way of example only,FIG. 21 illustrates a hard disk drive 841 that reads from or writes tonon-removable, nonvolatile magnetic media, an optical disk drive 855,and nonvolatile optical disk 856. The hard disk drive 841 is typicallyconnected to the system bus 821 through a non-removable memory interfacesuch as interface 840, and optical disk drive 855 are typicallyconnected to the system bus 821 by a removable memory interface, such asinterface 850.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Application-specific Integrated Circuits (e.g., ASICs),Application-specific Standard Products (e.g., ASSPs), System-on-a-chipsystems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

The drives and their associated computer storage media discussed aboveand illustrated in FIG. 21, provide storage of computer readableinstructions, data structures, program modules and other data for thecomputer 810. In FIG. 21, for example, hard disk drive 841 isillustrated as storing operating system 844, application programs 845,other program modules 846, and program data 847. Note that thesecomponents can either be the same as or different from operating system834, application programs 835, other program modules 836, and programdata 837.

A user may enter commands and information into the computer 810 throughinput devices such as a keyboard 862, a microphone 863, and a pointingdevice 861, such as a mouse, trackball or touch pad. Other input devices(not shown) may include a joystick, game pad, satellite dish, scanner,or the like. These and other input devices are often connected to theprocessing unit 820 through a user input interface 860 that is coupledto the system bus, but may be connected by other interface and busstructures. A visual display 891 or other type of display device is alsoconnected to the system bus 821 via an interface, such as a videointerface 890. In addition to the monitor, computers may also includeother peripheral output devices such as speakers 897 and printer 896,which may be connected through an output peripheral interface 895.

The computer 810 is operated in a networked environment using logicalconnections (such as a controller area network—CAN, local areanetwork—LAN, or wide area network-WAN) to one or more remote computers,such as a remote computer 880.

When used in a LAN networking environment, the computer 810 is connectedto the LAN 871 through a network interface or adapter 870. When used ina WAN networking environment, the computer 810 typically includes amodem 872 or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modulesmay be stored in a remote memory storage device. FIG. 21 illustrates,for example, that remote application programs 885 can reside on remotecomputer 880.

It should also be noted that the different examples described herein canbe combined in different ways. That is, parts of one or more examplescan be combined with parts of one or more other examples. All of this iscontemplated herein.

Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or acts described above.Rather, the specific features and acts described above are disclosed asexample forms of implementing the claims.

What is claimed is:
 1. An agricultural machine comprising: a furrowopener configured to open a furrow as the agricultural machine movesacross a field; a seed delivery system configured to deliver seeds tothe furrow; a seed sensor configured to sense a seed and to generate aseed sensor signal indicative of the seed; and a seed abnormalitydetector configured to detect a characteristic of the seed based on theseed sensor signal and to identify a seed abnormality based on thedetected characteristic.
 2. The agricultural machine of claim 1 andfurther comprising: a control system configured to generate a controlsignal to control a controllable subsystem based on the seedabnormality.
 3. The planting machine of claim 1, wherein thecontrollable subsystem comprises a population control subsystem.
 4. Theagricultural machine of claim 3, wherein the control system isconfigured to generate the control signal to control the populationcontrol subsystem to increase a speed of the seed delivery system. 5.The agricultural machine of claim 3, wherein the control system isconfigured to generate the control signal to control the populationsubsystem to increase a speed of a seed metering system, the seedmetering system configured to meter seeds to the seed delivery system.6. The agricultural machine of claim 1, wherein the seed abnormalitydetector is configured to detect, as the characteristic of the seed, aspectral characteristic of the seed, and to identify the seedabnormality based on the detected spectral characteristic.
 7. Theagricultural machine of claim 6, wherein the seed sensor comprises animage sensor that is configured to generate, as the seed sensor signal,an image of the seed.
 8. The agricultural machine of claim 1, whereinthe seed abnormality detector is configured to compare the detectedcharacteristic of the seed to a seed type characteristic, and toidentify the seed abnormality based on the comparison.
 9. A method ofcontrolling an agricultural machine comprising: generating, with a seedsensor, a seed sensor signal indicative of seed detected moving throughthe agricultural machine; detecting, with a seed abnormality detector, acharacteristic of the seed based on the seed sensor signal; identifyinga seed abnormality based on the detected characteristic of the seed; andgenerating a controllable subsystem of the agricultural machine based onthe seed abnormality.
 10. The method of claim 9, wherein thecontrollable subsystem comprises a population subsystem and whereingenerating the control signal comprises: generating the control signalto control the population subsystem of the agricultural machine totemporarily increase a speed at which a seed delivery system isconfigured to deliver seeds to a furrow.
 11. The method of claim 9,wherein the controllable subsystem comprises a population subsystem andwherein generating the control signal comprises: generating the controlsignal to control the population subsystem of the agricultural machineto temporarily increase a speed at which a seed metering system metersseeds to a seed delivery system.
 12. The method of claim 9, whereingenerating the seed sensor signal comprises capturing an image of theseed, with the seed sensor, as the seed is moving through theagricultural machine.
 13. The method of claim 9, wherein detecting thecharacteristic of the seed comprises detecting a spectral characteristicof the seed based on the seed sensor signal and wherein identifying theseed abnormality comprises identifying the seed abnormality based on thedetected spectral characteristic.
 14. The method of claim 9, whereinidentifying the seed abnormality comprises identifying that the seeddetected moving through the agricultural machine is of a different typethan a type of the seed that is to be delivered to a furrow opened bythe agricultural machine.
 15. An agricultural machine comprising: afurrow opener configured to open a seed furrow as the agriculturalmachine moves across a field during a planting operation; a seeddelivery system configured to deliver seeds to the furrow; a seed sensorconfigured to sense a seed and to generate a seed sensor signalindicative of the seed; and a planting characteristic detection systemthat detects a characteristic of the planting operation based on theseed sensor signal and generates a characteristic signal indicative ofthe sensed planting characteristic.
 16. The agricultural machine ofclaim 15, wherein the planting characteristic detection systemcomprises: a seed orientation detector configured to detect, as thecharacteristic of the planting operation, an orientation of the seed inthe seed delivery system based on the seed sensor signal.
 17. Theagricultural machine of claim 16 and further comprising: a controlsystem configured to generate a control signal to control a controllablesubsystem based on the detected orientation of the seed.
 18. Theagricultural machine of claim 17, wherein the controllable subsystemcomprises a seed orientation subsystem being configurable to change anorientation of the seeds being delivered to the seed delivery system,and wherein the control system is configured to generate the controlsignal to control the seed orientation subsystem to change anorientation of the seeds being delivery to the seed delivery system. 19.The agricultural machine of claim 15, wherein the seed sensor isconfigured to generate the seed sensor signal at a value that variesfrom a first level indicative of a seed not being detected to a secondlevel indicative of a seed being detected, and wherein the agriculturalmachine further comprises: signal width logic that identifies a signalwidth value indicative of a time for which the seed sensor signal has avalue that continuously meets or exceeds the second level.
 20. Theagricultural machine of claim 15, wherein the planting characteristicdetection system detects, as the characteristic of the plantingoperation, that a spacing of seeds within the seed delivery system doesnot satisfy a target spacing.